Method and arrangements for obtaining and associating 2D image

Abstract

Method and arrangements for obtaining and associating 2D image data with 3D image data are provided. the image data being based on light triangulation, performed by an imaging system, where a measure object with first light and an image sensor senses reflected first light from a measure object, during a first exposure period resulting in a first image with first intensity peaks occurring at first sensor positions, SP1. The measure object is also illuminated with second light(s) and any reflected second light is sensed from the measure object by the image sensor during third exposure period(s) resulting in one or more third images. For respective first sensor position, SP1, in the first image it is selected a respective third sensor position, SP3, in said one or more third images. It is then obtained 2D image data of respective third sensor position, SP3, in said one or more third images and the obtained 2D image data is associated with the first sensor position, SP1, that the respective third sensor position, SP3, was selected for.

The invention claimed is: 
     
       1. Method for obtaining and associating 2D image data with 3D image data, said 3D image data being based on first intensity peak positions resulting from light triangulation performed by an imaging system comprising a first light source for illuminating a measure object with first light and an image sensor for sensing reflected first light from the measure object, wherein the light triangulation comprises to illuminate a first portion of the measure object with the first light and sense reflected first light from the first portion by the image sensor during a first exposure period resulting in a first image with first intensity peaks occurring at first sensor positions, SP1, and illuminate another, second, portion of the measure object adjacent to said first portion with the first light and sense reflected first light from the second portion by the image sensor during another, second exposure period resulting in a second image with second intensity peaks occurring at second sensor positions, SP2, and wherein the imaging system further comprises one or more additional, second, light sources for illuminating the measure object with one or more second lights, wherein the method comprises:
 illuminating the measure object with said one or more second lights and sensing any reflected second light from the measure object by the image sensor during one or more third exposure periods resulting in one or more third images, 
 selecting, for respective first sensor position, SP1, in the first image, a respective third sensor position, SP3, in said one or more third images and providing said illumination with the one or more second lights such that during said one or more third exposure periods, any reflected second light from the measure object will result in higher intensity than reflected first light in the selected third sensor positions, SP3, and 
 obtaining 2D image data of respective selected third sensor position, SP3, in said one or more third images and associating the obtained 2D image data with the first sensor position, SP1, that the respective selected third sensor position, SP3, was selected for, whereby the obtained 2D image data become associated with the 3D image data. 
 
     
     
       2. The method as claimed in  claim 1 , wherein the selected third sensor positions, SP3, are selected such that a respective difference between respective selected third sensor position SP3 and the respective first sensor position, SP1, in sensor coordinates with adjustment for any real world movement of the measure object between the first image and said one or more third images, is within a predetermined maximum distance corresponding to an application specific maximum allowed offset for 2D data to be considered relevant for 3D data. 
     
     
       3. The method as claimed in  claim 1 , wherein said one or more third exposure periods is the first exposure period and said one or more third images is the first image, and wherein respective selected third sensor position, SP3, in the first image is selected with a respective difference in sensor coordinates to the respective first sensor position, SP1. 
     
     
       4. The method as claimed in  claim 1 , wherein said one or more third exposure periods are separate one or more exposure periods between the first exposure period and the second exposure period. 
     
     
       5. The method as claimed in  claim 4 , wherein the first light is prevented from illuminating the measure object during said one or more third exposure periods. 
     
     
       6. The method as claimed in  claim 4 , wherein said one or more second lights are prevented from illuminating the measure object during the first exposure period and the second exposure period. 
     
     
       7. The method as claimed in  claim 4 , wherein the respective selected third sensor position, SP3, in said one or more third images is selected at the same respective first sensor position, SP1, as the intensity peaks in the first image. 
     
     
       8. The method as claimed in  claim 4 , wherein said second light sources provide second lights of different wavelengths and wherein said second lights illuminating the measure object differ in light wavelengths between two or more of said third exposure periods. 
     
     
       9. The method as claimed in  claim 1 , wherein at least one of said second light sources are providing diffuse second light. 
     
     
       10. The method as claimed in  claim 1 , wherein said second light sources comprise at least one light source providing second light from the same direction and/or location as the first light source is providing the first light. 
     
     
       11. The method as claimed in  claim 1 , wherein said second light sources comprise at least one light source providing second light from a direction that causes second light illumination on the measure object resulting in specular second light reflections that illuminate at least some of the selected third sensor positions, SP3. 
     
     
       12. The method as claimed in  claim 1 , wherein said second light sources comprise one or more light sources providing second lights as dark field illumination along a surface of the measure object, such that any illuminated protruding structure on said surface will cause second light reflections that illuminate at least some of the selected third sensor positions, SP3. 
     
     
       13. The method as claimed in  claim 1 , wherein said second light sources provide second lights from at least two different directions, respectively, that cause second lights illumination on the measure object resulting in second lights reflections that illuminate at least some of the selected third sensor positions, SP3. 
     
     
       14. A non-transitory computer readable storage medium comprising instructions that when executed by one or more processors causes one or more devices to perform the method according to  claim 1 . 
     
     
       15. One or more devices for obtaining and associating 2D image data with 3D image data, said 3D image data being based on first intensity peak positions resulting from light triangulation performed by an imaging system comprising a first light source for illuminating a measure object with first light and an image sensor for sensing reflected first light from the measure object, wherein the light triangulation comprises to illuminate a first portion of the measure object with the first light and sense reflected first light from the first portion by the image sensor during a first exposure period resulting in a first image with first intensity peaks occurring at first sensor positions, SP1, and illuminate another, second, portion of the measure object adjacent to said first portion with the first light and sense reflected first light from the second portion by the image sensor during another, second exposure period resulting in a second image with second intensity peaks occurring at second sensor positions, SP2, and wherein the imaging system further comprises one or more additional, second, light sources for illuminating the measure object with one or more second lights, wherein said one or more devices are configured to:
 illuminate the measure object with said one or more second lights and sense any reflected second light from the measure object by the image sensor during one or more third exposure periods resulting in one or more third images, 
 select, for respective first sensor position, SP1, in the first image, a respective third sensor position, SP3, in said one or more third images and provide said illumination with the one or more second lights such that during said one or more third exposure periods, any reflected second light from the measure object will result in higher intensity than reflected first light in the selected third sensor positions, SP3, and 
 obtain 2D image data of respective selected third sensor position, SP3, in said one or more third images and associate the obtained 2D image data with the first sensor position, SP1, that the respective selected third sensor position, SP3, was selected for, whereby the obtained 2D image data become associated with the 3D image data.